A downhole positioning apparatus includes: a carrier configured to be disposed in a borehole in an earth formation, the carrier including at least one measurement tool and an extendable member configured to be actuated between a first position in which the extendable member is disposed at the carrier and a second position in which the member is extended from an outer surface of the carrier; and a receiving element fixedly disposed at a borehole casing, the receiving element configured to receive the elongated member when the member is in the second position and guide the carrier to a selected orientation as the carrier is moved axially through the borehole.